Title :
Ambient light intensity based topology switching control for multi-robot system
Author :
Ying Zhang ; Guangming Song ; Guifang Qiao ; Yali Wang ; Weiguo Wang
Author_Institution :
Sch. of Instrum. Sci. & Eng., Southeast Univ., Nanjing, China
Abstract :
Three Khepera III robots are used in multi-robot system for family security by providing environment information for people. This paper proposes that the topology of multi-robot system switches according to ambient light intensity during the navigation process. The localization of robots depends on dead reckoning, and Extended Kalman Filter is used to improve the localization accuracy, the error rate is about 0.5%. The formation controller of the system is leader-follower method, which can ensure the linear and angular velocities convergence smoothly and ensure the system forms into some specified topology structure. In the end, experiments verify the effectiveness of the method.
Keywords :
Kalman filters; multi-robot systems; topology; Khepera III robots; ambient light intensity based topology switching control; angular velocities convergence; dead reckoning; error rate; extended Kalman filter; formation controller; leader follower method; multirobot system; navigation process; robots localization; topology structure; Dead reckoning; Equations; Mobile robots; Multi-robot systems; Robot kinematics; Topology; ambient light intensity; formation; leader-follower; localization; multi-robot system;
Conference_Titel :
Information and Automation (ICIA), 2013 IEEE International Conference on
Conference_Location :
Yinchuan
DOI :
10.1109/ICInfA.2013.6720402